//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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//=================================================================================================

#ifndef HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H
#define HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H

#include <boost/type_traits/is_base_of.hpp>

namespace hector_pose_estimation {

class SystemInput
{
public:
  SystemInput() {}
  virtual ~SystemInput() {}
};

template <class SystemModel>
class Input_ : public SystemInput {
public:
  typedef Input_<SystemModel> Type;
  typedef typename SystemModel::InputVector Vector;

  Input_()
    : u_(SystemModel::InputDimension)
  {}
  Input_(Vector const& u)
    : u_(SystemModel::InputDimension)
  {
    setValue(u);
  }
  Input_(double u)
    : u_(SystemModel::InputDimension)
  {
    setValue(u);
  }
  virtual ~Input_() {}

  virtual void setValue(Vector const& u) { u_ = u; }
  virtual void setValue(double u) { u_(1) = u; }

  virtual Vector const &getVector() const { return u_; }

  virtual Vector &operator=(Vector const& u) { setValue(u); return u_; }
  virtual Vector &operator=(double u) { setValue(u); return u_; }

protected:
  Vector u_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_SYSTEM_INPUT_H
